package org.usfirst.frc.team3501.robot.commands.auton;
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
import edu.wpi.first.wpilibj.command.CommandGroup;
public class PassMoat extends CommandGroup {
- private final double BEG_TIME = 0;
- private final double MID_TIME = 0;
- private final double END_TIME = 0;
- private final double BEG_SPEED = 0;
- private final double MID_SPEED = 0;
- private final double END_SPEED = 0;
-
public PassMoat() {
- addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
- addSequential(new DriveForTime(MID_TIME, MID_SPEED));
- addSequential(new DriveForTime(END_TIME, END_SPEED));
+ if (Constants.DeadReckoning.isDeadReckoning) {
+ addSequential(new DriveForTime(Constants.DeadReckoning.passMoatTime,
+ Constants.DeadReckoning.passMoatSpeed));
+ }
+ else {
+ addSequential(new DriveDistance(Constants.DeadReckoning.passMoatDistance,
+ Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+ }
}
}